Test tube sequencing device and sequencing method

Abstract

The invention discloses a sequencing device and method for test tubes, and relates to the field of medical instruments.The sequencing device for the test tubes comprises a main body, a test tube bin used for loading the test tubes is arranged on one side of the main body, a conveying channel is arranged in the main body, and a reciprocating lifting mechanism is arranged on the main body; a stopping guide mechanism is arranged at the position, located at the tail end of the conveying channel, of the main body, and the stopping guide mechanism is used for stopping the test tubes conveyed to the tail end of the conveying channel and guiding the test tubes into a tube pushing mechanism arranged on the main body; the tube pushing mechanism is used for moving test tubes into the sorting mechanism arranged on the main body, a tube direction judging mechanism is arranged on the main body and used for judging the tube directions of the test tubes located in the sorting mechanism, and the sorting mechanism is used for placing the test tubes with tube openings facing upwards on a sample support located on one side of the main body according to the judgment result of the tube direction judging mechanism. According to the invention, the problems of test tube orientation and sorting in a laboratory automation system are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to a sorting device and sorting method for test tubes. Background Art

[0002] In the field of laboratory automation, test tubes, as sample carriers, their automation processing capabilities are crucial for the efficiency of the entire system. With the continuous growth of medical and scientific research needs, efficient and precise test tube automation processing technologies have gradually become the key to the industry's development. By improving the automation level of test tube processing, not only can the throughput of sample processing be significantly increased, but also the errors caused by manual operations can be effectively reduced, providing important support for the modern development of laboratories.

[0003] In the prior art, in order to achieve the automation processing of test tubes, the following several technical means are usually adopted in the industry: one is to set a guiding structure with a specific shape in the conveying channel and use the gravity of the test tube itself to achieve preliminary positioning; another is to add additional processes, such as configuring multiple groups of sensors or complex mechanical structures, to identify the direction of the test tube; there is also a method of using customized test tubes with specific structures (such as bosses) to achieve orientation through their cooperation with channels of fixed dimensions. Although these methods solve the problem of test tube orientation to a certain extent, each has its limitations.

[0004] However, the above conventional means all face some technical challenges that are difficult to overcome. The method of adding additional processes will significantly increase the complexity and cost of the equipment, and at the same time extend the processing time of a single test tube, thereby reducing the overall efficiency of the system. The method of using customized test tubes can simplify the orientation process to a certain extent, but it will increase the development cost of consumables and limit the compatibility of the system with ordinary smooth test tubes.

[0005] In summary, how to achieve the rapid orientation and sorting of test tubes on the premise of ensuring low cost and high compatibility is an urgent problem to be solved by those skilled in the art at present. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a sorting device and sorting method for test tubes, which effectively solves the problems of test tube orientation and sorting in the laboratory automation system, improves the automation level, throughput and accuracy of test tube processing, reduces the equipment complexity and cost at the same time, and enhances the compatibility with ordinary smooth test tubes.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A sorting device for test tubes, comprising a main body. On one side of the main body, there is a test tube bin for loading test tubes. Inside the main body, there is a conveying channel. On the main body, there is a reciprocating lifting mechanism to lift the test tubes in the test tube bin to the discharge port of the conveying channel. At the end of the conveying channel of the main body, there is a stopping and guiding mechanism, which is used to stop the test tubes conveyed to the end of the conveying channel and guide them into a pushing tube mechanism arranged on the main body. The pushing tube mechanism is used to move the test tubes into a sorting mechanism arranged on the main body. On the main body, there is a tube direction determination mechanism, which is used to determine the tube direction of the test tubes located in the sorting mechanism. The sorting mechanism is used to place the test tubes with their mouths facing up on a sample tray located on one side of the main body according to the determination result of the tube direction determination mechanism.

[0009] Preferably, the reciprocating lifting mechanism comprises:

[0010] A driving member, arranged on the main body, and the output end of the driving member is arranged inside the conveying channel;

[0011] A lifting member, arranged inside the conveying channel, and the lifting member is fixedly connected to the output end of the driving member, so that the driving member drives the lifting member to reciprocate inside the conveying channel.

[0012] Preferably, the stopping and guiding mechanism comprises:

[0013] A stopping and guiding member, arranged at the conveying end of the conveying channel, so that the lifted test tubes stop rising and are guided to the discharge port of the conveying channel;

[0014] A blocking member, arranged at the discharge port of the conveying channel, so that the test tubes stop at the discharge port of the conveying channel or slide into the pushing tube mechanism.

[0015] Preferably, the pushing tube mechanism comprises:

[0016] A first mounting plate, arranged on the main body. On the first mounting plate, there is a guide rail, and a pushing plate is slidably arranged on the guide rail;

[0017] A V-shaped groove, arranged on the first mounting plate and located below the discharge port of the conveying channel;

[0018] A second driving member, arranged on the first mounting plate, so that the pushing plate moves along the guide rail and drives the test tubes to move along the V-shaped groove;

[0019] A test tube detection sensor, arranged on the first mounting plate, and the test tube detection sensor is used to detect whether there is a test tube in the V-shaped groove.

[0020] Preferably, the second driving member includes a first driving wheel and a first driven wheel oppositely arranged on the first mounting plate. A first synchronous belt is tensioned between the first driving wheel and the first driven wheel. The pushing plate is arranged on the first synchronous belt so that the synchronous belt drives the pushing plate to slide along the guide rail. A first motor is arranged on the first mounting plate to rotate the first driving wheel and drive the first synchronous belt to move.

[0021] Preferably, the tube orientation determination mechanism includes a tube orientation sensor arranged at the end of the V-shaped groove for the tube conveying.

[0022] Preferably, the sorting mechanism includes:

[0023] A second mounting plate arranged on one side of the main body;

[0024] A gripper arranged on the second mounting plate. A rotating assembly is arranged between the gripper and the second mounting plate to enable the gripper to rotate on the second mounting plate. The gripper is located on one side of the end of the V-shaped groove so that the pushing plate pushes the test tube from the V-shaped groove into the gripper.

[0025] Preferably, the rotating assembly includes a second driving wheel and a second driven wheel arranged on the second mounting plate. The gripper is fixedly connected to the second driven wheel. A second synchronous belt is tensioned between the second driving wheel and the second driven wheel. A second motor is arranged on the second mounting plate to rotate the second driving wheel and drive the second driven wheel to rotate.

[0026] Preferably, the tube orientation determination mechanism includes a first trigger, a second trigger and a tube orientation sensor arranged on the second mounting plate. One end of the first trigger is located on one side of the gripper. The other end of the first trigger cooperates with the second trigger. A bearing seat is arranged on the second mounting plate. The second trigger is rotatably arranged on the bearing seat, and a torsion spring is arranged between the second trigger and the bearing seat;

[0027] The tube orientation sensor is provided with a contact point so that after the first trigger is triggered by the test tube, it drives the second trigger to rotate and cooperate with the contact point.

[0028] Preferably, it further includes a blanking mechanism, and the blanking mechanism includes:

[0029] A third mounting plate arranged on the main body;

[0030] A third motor arranged on the third mounting plate. A lead screw is arranged on the transmission shaft of the third motor;

[0031] The blanking plate is slidably arranged on the third mounting plate. One side of the blanking plate is threadedly connected to the lead screw through a cushion block arranged on the blanking plate, and the other side of the blanking plate is fixedly connected to the second mounting plate.

[0032] It further includes a blanking mechanism, and the blanking mechanism includes:

[0033] The third mounting plate is arranged on the main body;

[0034] The third motor is arranged on the third mounting plate, and a lead screw is arranged on the transmission shaft of the third motor;

[0035] The blanking plate is slidably arranged on the third mounting plate. One side of the blanking plate is threadedly connected to the lead screw through a cushion block arranged on the blanking plate, and the other side of the blanking plate is fixedly connected to the second mounting plate

[0036] A sorting method for test tubes, which is applied to the test tube sorting device described in any one of the above, and the sorting method includes:

[0037] Pour the disordered test tubes into the test tube bin, and control the reciprocating lifting mechanism to reciprocate the test tubes in the test tube bin along the conveying channel;

[0038] Control the intercepting and guiding mechanism to intercept the test tubes transported to the top end of the conveying channel and guide them to the discharge port of the conveying channel, so that they slide into the pushing tube mechanism;

[0039] Control the pushing tube mechanism to push the test tubes into the sorting mechanism;

[0040] According to the tube direction of the test tubes determined by the tube direction determination mechanism, control the sorting mechanism to rotate the test tubes by a certain angle so that the tube mouths of the test tubes are vertically upward, control the sorting mechanism to move the test tubes with vertically upward tube mouths to the sample tray, and repeat the above steps repeatedly to complete the sorting of the test tubes.

[0041] The test tube sorting device and sorting method provided by the present invention realize an automated test tube processing process from disorder to order. It can not only efficiently separate and lift the disorderly placed test tubes one by one to the designated positions, but also complete the direction judgment and correction of the test tubes through precise mechanism cooperation to ensure that the test tubes are finally placed on the sample tray with a unified orientation. It effectively improves the operating efficiency of the laboratory automation system, reduces the need for manual intervention. At the same time, since it avoids relying on special structure test tubes, it reduces the consumable cost and enhances the versatility and economy of the system.

[0042] In the further solution provided by this application, at least one of the following beneficial technical effects can also be achieved:

[0043] By using the cooperation of the reciprocating lifting mechanism and the stopping and guiding mechanism, the disorderly stacked test tubes can be effectively separated, and single test tubes can be ensured to be transported to the subsequent processing link, effectively improving the system processing efficiency.

[0044] The pushing tube mechanism uses a V-shaped groove to axially position the test tube and combines with a tube inspection sensor to achieve rapid detection, significantly improving the accuracy and reliability of test tube positioning.

[0045] The sorting mechanism combines a rotating component and a tube direction determination mechanism. Regardless of the initial direction of the test tube, it can accurately judge and adjust the direction of the test tube, and finally place the test tube with the tube mouth facing up on the sample tray, greatly improving the automation level and compatibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0047] Figure 1 It is a schematic diagram of the overall structure of the sorting device in this embodiment;

[0048] Figure 2 It is a schematic diagram of the structure of the stopping and guiding mechanism and the reciprocating lifting mechanism in this embodiment;

[0049] Figure 3 It is a schematic diagram of the first perspective of the pushing tube mechanism in this embodiment;

[0050] Figure 4 It is a schematic diagram of the second perspective of the pushing tube mechanism in this embodiment;

[0051] Figure 5 It is a schematic diagram of the overall structure of the sorting mechanism in this embodiment;

[0052] Figure 6 It is a schematic diagram of the structure of the gripper opening mechanism in this embodiment;

[0053] Figure 7 It is a schematic diagram of the structure of the gripper tensioning mechanism in this embodiment;

[0054] Figure 8 It is a schematic diagram of the structure of the blanking mechanism in this embodiment;

[0055] Figure 9 It is a schematic diagram of the structure of the V-shaped groove in this embodiment;

[0056] Figure 10It is a schematic structural diagram of the pusher plate in this embodiment;

[0057] Figure 11 It is a schematic structural diagram of the overall structure using a tube orientation sensor in this embodiment;

[0058] Figure 12 It is a schematic structural diagram of the V-groove part using a tube orientation sensor in this embodiment.

[0059] Figures 1 - 10 In it, the reference numerals include:

[0060] 1. Main body; 2. Stirring mechanism; 3. Stopping and guiding mechanism; 4. Pushing tube mechanism; 5. Blanking mechanism; 6. Sorting mechanism; 8. Lifting member; 9. Driving member; 10. Test tube bin; 12. First mounting plate; 13. Guide rail; 14. First driven wheel; 16. First driving wheel; 15. First synchronous belt; 18. V-groove; 20. Tube inspection sensor; 21. Pusher plate; 22. Third mounting plate; 25. Blanking plate; 26. Spacer block; 28. Third motor; 31. Lead screw; 32. Second mounting plate; 35. Gripper; 36. Second synchronous belt; 37. Second driving wheel; 38. Second motor; 40. Tube orientation sensor; 41. Bearing seat; 42. Torsion spring; 43. Second trigger; 44. First trigger; 45. Cam frame; 46. Guide shaft; 47. Linear bearing; 50. First bearing; 52. Spring; 53. Sleeve; 54. Connecting shaft; 55. Bushing; 56. Push rod; 57. Tube orientation sensor; 58. Second bearing. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0062] Unless otherwise defined, the technical terms or scientific terms used in the disclosure of this application should have the ordinary meaning understood by those of ordinary skill in the art in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance. "Connection" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship can also change accordingly. The embodiments of this application disclose a sorting device and sorting method for test tubes.

[0063] The core of the present invention is to provide a sorting device and a sorting method for test tubes.

[0064] Please refer to Figures 1 to 2 。

[0065] The sorting device for test tubes provided by the present invention includes a main body 1. On one side of the main body 1, there is a test tube bin 10 for loading test tubes. A conveying channel is arranged inside the main body 1. A reciprocating lifting mechanism is arranged on the main body 1 to lift the test tubes in the test tube bin 10 to the discharge port of the conveying channel. At the end of the conveying channel of the main body 1, there is a stopping and guiding mechanism 3. The stopping and guiding mechanism 3 is used to stop the test tubes conveyed to the end of the conveying channel and guide them into a pushing tube mechanism 4 arranged on the main body 1. The pushing tube mechanism 4 is used to move the test tubes into a sorting mechanism 6 arranged on the main body 1. A tube direction determination mechanism is arranged on the main body 1. The tube direction determination mechanism is used to determine the tube direction of the test tubes located in the sorting mechanism 6. The sorting mechanism 6 is used to place the test tubes with their openings facing upwards on a sample tray located on one side of the main body 1 according to the determination result of the tube direction determination mechanism.

[0066] Specifically, the main body 1 is a vertically arranged columnar structure with a hollow part inside, which is the conveying channel. The test tube bin 10 is fixedly arranged at the upper right of the main body 1. The hopper opening of the test tube bin 10 faces upwards, and the discharge port of the test tube bin 10 faces one side of the conveying channel. The main body 1 is provided with a through hole at the bottom end of the conveying channel to connect the conveying channel with the test tube bin 10, so that the test tubes put into the test tube bin 10 enter the bottom of the conveying channel from the discharge port of the test tube bin 10 and wait for subsequent conveyance.

[0067] The reciprocating lifting mechanism is arranged on the main body 1, and its output end is located at the conveying channel inside the main body 1. The conveying front end of the reciprocating lifting mechanism is located at the bottom of the conveying channel and cooperates with the discharge port of the test tube bin 10. The conveying end of the reciprocating lifting mechanism is located at the top of the conveying channel and cooperates with the stopping and guiding mechanism 3. The bottom of the test tube bin 10 and the bottom of the conveying channel are both inclined, which is convenient for the test tubes at the bottom of the test tube bin 10 to directly roll to the bottom of the conveying channel. At the same time, when the reciprocating lifting mechanism lifts the test tubes entering the conveying channel, the reciprocating lifting mechanism will seal the communication port between the test tube bin 10 and the conveying channel, thereby preventing the continuous entry of test tubes during the lifting process. After the reciprocating lifting mechanism lifts the test tubes to the top of the conveying channel, the test tubes are stopped by the stopping and guiding mechanism and a single test tube is guided into the pushing tube mechanism 4, completing the single separation of the disordered test tubes and lifting them to the discharge port of the conveying channel.

[0068] The test tubes that enter the push tube mechanism 4 will be pushed into the sorting mechanism 6 by the push tube mechanism 4. During this process, the tube orientation determination mechanism judges the orientation of the test tubes, and the sorting mechanism 6 selects different rotation angles according to the judgment results, so that the test tubes can all be rotated to the direction with the tube mouth facing upward, and then moved to the sample tray for placement. Repeating this process, the sorting output of disordered test tubes is realized.

[0069] It should be noted that this device is not only applicable to sorting test tubes, but also applicable to other structures with one end closed and one end open.

[0070] The above-mentioned test tube sorting device effectively solves the problems of low processing efficiency, easy error and high cost caused by the disordered arrangement of test tubes in the laboratory automation system. Through this device, the test tubes can be automatically sorted from disordered to ordered, significantly improving the efficiency and accuracy of test tube processing, while reducing the cost and time of manual intervention. During the whole process, the test tubes enter the conveying channel through the test tube bin 10, and after being lifted by the reciprocating lifting mechanism, guided by the intercepting and guiding mechanism 3, pushed by the push tube mechanism 4, and sorted and rotated by the sorting mechanism 6, the automatic sorting output of the test tubes is finally realized. This device not only has a compact structure and simple operation, but also can efficiently and accurately process a large number of disordered test tubes, providing strong support for the test tube processing in the laboratory automation system.

[0071] The following will introduce the test tube sorting device and sorting method provided by the present invention in more detail with reference to the attached drawings and specific embodiments.

[0072] In a specific embodiment, referring to Figure 2 , the reciprocating lifting mechanism includes a driving member 9 and a lifting member 8. The driving member 9 is arranged on the main body 1, and the output end of the driving member 9 is arranged in the conveying channel. The lifting member 8 is arranged in the conveying channel, and the lifting member 8 is fixedly connected to the output end of the driving member 9, so that the driving member 9 drives the lifting member 8 to reciprocate in the conveying channel.

[0073] Specifically, the driving member 9 (which can be a linear motor, a hydraulic cylinder, or other devices capable of driving the target to move linearly) is arranged on the main body 1, and its output end extends deep into the conveying channel to provide the power for reciprocating motion as a power source. The lifting member 8 is arranged in the conveying channel and is driven by the output end of the driving member 9. When the driving member 9 is started, its power can be directly and efficiently transmitted to the lifting member 8, driving the lifting member 8 to perform stable reciprocating motion in the conveying channel, thereby driving the test tube located on the lifting member 8 to be lifted upward along the conveying channel. During the working process of the reciprocating lifting mechanism, the driving member 9 periodically changes the direction of its output end, thereby driving the lifting member 8 to perform reciprocating motion up and down in the conveying channel. When the lifting member 8 moves downward, it will contact the test tube at the discharge port of the test tube bin 10 and lift the test tube to the top of the conveying channel through friction or mechanical structure. After the test tube is lifted to the top, the stopping and guiding mechanism 3 will intervene to stop and guide the test tube into the pushing tube mechanism 4, completing the process of single test tube separation and lifting.

[0074] Optionally, the lifting member 8 can be divided into multiple sections, each section located at different heights in the conveying channel. During the lifting process, the test tubes are screened and separated layer by layer from multiple tubes to single tubes, so that there is a single test tube when reaching the top of the conveying channel, and then in cooperation with the stopping and guiding mechanism 3, the stopping and guiding mechanism 3 first stops the test tube and then guides it into the pushing tube mechanism 4 to complete the conveying.

[0075] Based on any of the above embodiments, referring to Figure 2 , the stopping and guiding mechanism 5 includes a stopping and guiding member and a blocking member. The stopping and guiding member is arranged at the conveying end of the conveying channel to stop the lifted test tube from rising and guide it to the discharge port of the conveying channel. The blocking member is arranged at the discharge port of the conveying channel to stop the test tube at the discharge port of the conveying channel or let it slide into the pushing tube mechanism 4.

[0076] Specifically, the stopping and guiding member is arranged at the conveying end of the conveying channel. A guiding surface is formed on the side of the stopping and guiding member close to the reciprocating lifting mechanism and is inclined towards the discharge port of the conveying channel. An inclined discharge hopper is arranged at the discharge port of the conveying channel. When the test tube is lifted to the conveying end of the conveying channel, the test tube can be diverted into the discharge hopper by the stopping and guiding member, and the blocking member is arranged at the discharge port of the conveying channel, and its opening or closing can realize the stopping or release of the test tube.

[0077] Alternatively, the blocking element can be designed in other forms, such as an electrically controlled sliding door or a pneumatically controlled piston. This can be selected based on the specific application scenario and requirements to achieve optimal control. Furthermore, to further enhance the reliability and stability of the interception guide mechanism, auxiliary devices such as sensors and limit switches can be considered for the interception guide and blocking element. This allows for real-time monitoring of the test tube's position and status, ensuring smooth flow along the intended path and enabling intervention and adjustments as necessary.

[0078] Based on any of the above embodiments, Figure 3 and Figure 4 The tube pushing mechanism 4 includes a first mounting plate 12, a V-shaped groove 18 (such as Figure 9 As shown), the second drive member and the inspection sensor 20, the first mounting plate 12 is provided on the main body 1, the first mounting plate 12 is provided with a guide rail 13, the guide rail 13 is slidably provided with a push plate 21 (as shown Figure 10 (as shown). A V-shaped groove 18 is provided on the first mounting plate 12, below the discharge port of the conveying channel. A second drive member is provided on the first mounting plate 12 to move a push plate 21 along the guide rail 13, thereby driving the test tube along the V-shaped groove 18. A tube detection sensor 20 is provided on the first mounting plate 12 to detect the presence of a test tube in the V-shaped groove 18.

[0079] Specifically, the first mounting plate 12 can be fixed to the main body 1 by bolts, such as Figure 4 As shown, a V-shaped groove 18 for receiving a test tube is provided on the inner side of the first mounting plate 12 (on the side closest to the main body 1). This groove 18 provides axial positioning for a test tube that has slipped onto the device. A through-hole is provided in the V-shaped groove 18, and a tube detection sensor 20 is fixed to the first mounting plate 12 via bolts. The contact of the sensor 20 extends through the through-hole and is positioned within the V-shaped groove 18. When a test tube slides onto the V-shaped groove 18, the sensor 20, a photoelectric sensor, effectively detects the presence of the test tube within the V-shaped groove 18, thereby determining whether the tube pushing mechanism 4 is in place.

[0080] A guide rail 13 is provided on the top of the first mounting plate 12 along the length direction of the V-shaped groove 18, and a push plate 21 is slidably provided on the guide rail 13. The push plate 21 is an N-shaped structure, with a transmission end and a pipe pushing end at its two ends, and is located on the side of the first mounting plate 12 away from the V-shaped groove 18 (such as Figure 3 18 , the pusher 21 is provided with a second drive member, the output end of which is connected to the transmission end of the pusher plate 21, thereby driving the pusher plate 21 to move along the guide rail 13. A push rod is provided at the tube-pushing end of the pusher plate 21. During the movement of the pusher plate 21, the push rod drives the test tube in the V-shaped groove 18 until the test tube enters the sorting mechanism 6 and the tube is pushed.

[0081] Optionally, auxiliary devices such as sliding bearings or linear guides can be added between the pusher plate 21 and the guide rail 13 to reduce frictional resistance and improve moving accuracy. At the same time, when selecting the tube inspection sensor 20, sensor products with high sensitivity and high reliability can also be used to ensure the accurate detection of the presence state of the test tube.

[0082] Further, the second driving member includes a first driving wheel 16 and a first driven wheel 14 that are oppositely arranged on the first mounting plate 12. A first synchronous belt 15 is tensioned between the first driving wheel 16 and the first driven wheel 14. The pusher plate 21 is arranged on the first synchronous belt 15 so that the synchronous belt 15 drives the pusher plate 21 to slide along the guide rail 13. A first motor 17 is arranged on the first mounting plate 12 to rotate the first driving wheel 16 and drive the first synchronous belt 15 to move.

[0083] Specifically, referring to Figure 3 , the first driving wheel 16 and the first driven wheel 14 are respectively arranged at both ends of the side of the first mounting plate 12 away from the V-shaped groove 18. A synchronous belt 15 is wound between the first driving wheel 16 and the first driven wheel 14. A first motor 17 is fixed on the first mounting plate 12. The first driving wheel 16 is fixed to the shaft end of the first motor 17. The first motor 17 is used to drive the first driving wheel 16 to rotate, so as to cooperate with the first driven wheel 14 to make the synchronous belt 15 drive between the first driving wheel 16 and the first driven wheel 14. The driving end of the pusher plate 21 is fixedly connected to the synchronous belt 15 by bolts. Further, during the driving of the synchronous belt 15, the pusher plate 21 is driven to slide along the guide rail 13. Through the forward and reverse rotation control of the first motor 17, the reciprocating movement of the pusher plate 21 on the guide rail 13 is realized.

[0084] Optionally, a tensioning device is further arranged on the first mounting plate 12. The tensioning device is used to adjust the tension of the first synchronous belt 15. When the first synchronous belt 15 becomes loose after long-term use, it can be tensioned by the tensioning device to ensure the normal transmission between the first synchronous belt 15, the first driving wheel 16 and the first driven wheel 14, and avoid problems such as unstable sliding or slipping of the pusher plate 21 caused by the slack of the synchronous belt. The tensioning device can adopt a conventional device capable of tensioning the synchronous belt.

[0085] Based on any of the above embodiments, referring to Figures 5 to 7 , the sorting mechanism 6 includes a second mounting plate 32 and a gripper 35. The second mounting plate 32 is arranged on one side of the main body 1. The gripper 35 is arranged on the second mounting plate 32. A rotating assembly is arranged between the gripper 35 and the second mounting plate 32 to enable the gripper 35 to rotate on the second mounting plate 32. The gripper 35 is located on one side of the end of the V-shaped groove 18, so that the pusher plate 21 can push the test tube from the V-shaped groove 18 into the gripper 35.

[0086] Specifically, the second mounting plate 32 is fixed to one side of the main body 1 by bolts or welding, providing a mounting base for the remaining components of the sorting mechanism 6. The gripper 35 is a semi-circular structure with its opening facing the end of the V-groove 18, facilitating the reception of test tubes pushed from the V-groove 18 by the push plate 21. The rotating assembly is disposed between the second mounting plate 32 and the gripper 35 and is used to drive the gripper 35 to rotate. Since the test tubes entering the gripper 35 are not always in the same direction, after the gripper 35 grasps the test tube, the rotating assembly will determine whether to rotate 90° clockwise or 90° anticlockwise based on the determination result of the tube direction determination mechanism, and then release the test tube by controlling the gripper 35 to allow the test tube to enter the sample tray to complete the test tube sorting and collection.

[0087] During the actual operation, when the push plate 21 is driven by the first synchronous belt 15, it pushes the test tube along the V-groove 18 into the opening of the gripper 35, and according to the judgment result of the tube direction judgment mechanism, controls the rotating assembly to rotate the gripper 35 so that the tube mouth of the test tube is vertically facing upward, so as to carry out subsequent test tube sorting operations.

[0088] Optionally, to ensure that gripper 35 can stably and accurately grasp the test tube, an elastic cushion (not shown) may be provided on the inside of gripper 35. This cushion may be made of materials such as rubber or silicone. When the test tube enters gripper 35, the cushion acts as a buffer, preventing damage to the test tube from a rigid collision between gripper 35 and gripper 35. It also enhances the friction between gripper 35 and the test tube, improving gripping stability.

[0089] It should be noted that the gripper 35 includes a gripper tensioning mechanism and a gripper opening mechanism, specifically as follows: Figure 6 and Figure 7 shown.

[0090] like Figure 6 The figure shows a gripper tensioning mechanism, which includes a cam frame 45, guide shafts 46 disposed oppositely at both ends of the cam frame 45, and linear bearings 47 sleeved on the guide shafts 46. One side of the linear bearing 47 is integrally formed with the gripper 35, and the other side is provided with a first bearing 50. A gap is formed between the two opposing first bearings 50. When an object larger than the gap enters, the two grippers 35 are moved away from each other along the two guide shafts 46, thereby separating the grippers 35. To facilitate the resetting of the two grippers 35, a spring 52 is disposed between the linear bearing 47 and the cam frame 45 and sleeved on the guide shafts 46. After the two grippers 35 are pushed open by the gripper opening mechanism, when the gripper opening mechanism retracts, the spring 52 returns to drive the grippers 35 back along the guide shafts 46.

[0091] like Figure 7As shown in the figure, the figure shows a gripper opening mechanism, which includes a linear motor. The drive shaft of the linear motor is inserted into the hollow part of the second driven wheel shaft. The drive shaft of the linear motor is connected to the second driven wheel through a second bearing 58. The drive shaft of the linear motor is connected to a push rod 56 through a connecting shaft 54 to drive the push rod 56 to move linearly. The push rod 56 is arranged towards the gap between the two grippers 35. A bushing 55 is sleeved on the outer periphery of the connecting shaft 54, and a sleeve 53 is arranged between the bushing 55 and the second bearing 58.

[0092] When it is necessary to open the gripper 35, control the linear motor to drive the push rod 56 to move towards the first bearing 50. During the movement of the push rod 56, the two grippers 35 move away from each other along the guide shaft 46 to open; when the gripper 35 needs to be tightened, control the linear motor to drive the push rod 56 to reset, and the gripper 35 resets under the action of the spring 52 to complete the grasping of the test tube.

[0093] Furthermore, the rotating assembly includes a second driving wheel 37 and a second driven wheel arranged on the second mounting plate 32. The gripper 35 is fixedly connected to the second driven wheel. A second synchronous belt 36 is tensioned between the second driving wheel 37 and the second driven wheel. A second motor 38 is arranged on the second mounting plate 32 to rotate the second driving wheel 37 and drive the second driven wheel to rotate.

[0094] Specifically, referring to Figure 5 , both the second driving wheel 37 and the second driven wheel are arranged on the second mounting plate 32. The second driving wheel 37 is connected to the transmission shaft of the second motor 38 to receive power and transmit it to the second synchronous belt 36. The second driving wheel 37 serves as the power input end and drives the second synchronous belt 36 to move by rotation. The second driven wheel serves as the power output end and is fixedly connected to the gripper 35 to drive the gripper 35 to rotate. The second synchronous belt 36 is tensioned between the second driving wheel 37 and the second driven wheel to form a stable transmission system. When the second driving wheel 37 rotates, it drives the second synchronous belt 36 to move through the meshing of the tooth-shaped structure, and then drives the second driven wheel and the gripper 35 to rotate. Using synchronous belt transmission has the advantages of stable transmission, low noise, and high transmission efficiency, which can ensure the stability and accuracy of the gripper 35 during rotation. The second motor 38 is installed on the second mounting plate 32, and its transmission shaft is connected to the second driving wheel 37. As the power source of the rotating assembly, the second motor 38 is responsible for providing the necessary torque and speed to drive the gripper 35 to rotate. The operating state (such as speed, rotation direction, etc.) of the second motor 38 is controlled by the control system according to the determination result of the tube direction determination mechanism to ensure that the test tube can be accurately adjusted to the direction with the tube opening facing upwards.

[0095] After the test tube is pushed into the gripper 35 by the pusher plate 21, the tube orientation determination mechanism immediately starts to work. Through the coordinated action of the first trigger 44, the second trigger 43 and the tube orientation sensor 40, the orientation of the test tube is accurately determined. According to the determination result, the control system sends an instruction to the second motor 38 to drive the second driving wheel 37 to rotate. The second driving wheel 37 drives the second driven wheel and the gripper 35 to rotate through the second synchronous belt 36, so as to adjust the test tube to a state where the tube mouth is vertically upward. Finally, the control system controls the gripper 35 to release the test tube so that it falls onto the sample tray to complete the sorting and sequencing operations.

[0096] Based on any one of the above embodiments, with reference to Figure 5 , the tube orientation determination mechanism includes a first trigger 44, a second trigger 43 and a tube orientation sensor 40 arranged on the second mounting plate 32. One end of the first trigger 44 is located on one side of the gripper 35, and the other end of the first trigger 44 cooperates with the second trigger 43. A bearing seat 41 is arranged on the second mounting plate 32, the second trigger 43 is rotatably arranged on the bearing seat 41, and a torsion spring 42 is arranged between the second trigger 43 and the bearing seat 41. A contact point is arranged on the tube orientation sensor 40 so that after the first trigger 44 is triggered by the test tube, it drives the second trigger 43 to rotate and cooperate with the contact point.

[0097] Specifically, one end of the first trigger 44 is located on one side of the gripper 35, and its function is to detect the arrival of the test tube and trigger subsequent actions. When the test tube is pushed into the gripper 35, the test tube will contact the first trigger 44 and trigger corresponding actions according to the orientation of the test tube (for example, when the mouth of the test tube faces the first trigger 44, the first trigger 44 remains stationary, and when the bottom of the test tube faces the first trigger 44, the first trigger 44 swings to drive the second trigger 43 to rotate). The first trigger 44 usually adopts a mechanical structure, such as a lever or a spring piece, which can generate displacement or deformation when subjected to an external force. The second trigger 43 cooperates with the other end of the first trigger 44 to form a linkage mechanism. When the first trigger 44 is triggered by the test tube, it will drive the second trigger 43 to rotate. The second trigger 43 is rotatably arranged on the bearing seat 41, and the bearing seat 41 is fixed to the second mounting plate 32. This ensures that the second trigger 43 can rotate smoothly and has sufficient stability. The tube orientation sensor 40 is provided with contacts. When the second trigger 43 rotates and cooperates with the contacts, the tube orientation sensor 40 can detect this action and determine the orientation of the test tube accordingly. The tube orientation sensor 40 usually adopts types such as proximity switches and photoelectric sensors, and these sensors have the characteristics of high precision and high reliability and can accurately detect the actions of the triggers. The bearing seat 41 is used to support the rotating shaft of the second trigger 43 and enable it to rotate smoothly. The bearing seat 41 is fixed to the second mounting plate 32 to ensure its stability and reliability. The torsion spring 42 is arranged between the second trigger 43 and the bearing seat 41, and its function is to keep the second trigger 43 in a certain initial position (such as a horizontal position) and be in reliable contact with the cam when there is no external force. When the first trigger 44 is triggered and drives the second trigger 43 to rotate, the torsion spring 42 will be compressed or stretched; when the external force disappears, the torsion spring 42 will release the stored energy to make the second trigger 43 return to the initial position.

[0098] When the test tube is pushed into the gripper 35, the test tube will contact the first trigger 44 and trigger its action. After the first trigger 44 is triggered, it will drive the second trigger 43 to rotate. During the rotation process, the second trigger 43 will cooperate with the contacts on the tube orientation sensor 40, thereby triggering the tube orientation sensor 40 to generate a signal. After the control system receives this signal, it will judge the orientation of the test tube according to the preset logic and control the rotation assembly to perform corresponding rotation adjustment operations. When the test tube is adjusted to the state where the mouth of the tube is vertically upward, the gripper 35 will release the test tube, allowing it to fall onto the sample tray to complete the sorting and sequencing operations.

[0099] It should be noted that during the rotation of the test tube, a cam is provided at the upper end of the cam frame 45, so that during the rotation process, the cam preferentially drives the first trigger 44 to swing, so that during the rotation process, there will be no interference with the first trigger 44.

[0100] Based on any of the above embodiments, with reference to Figure 8 , the sorting device further includes a blanking mechanism 5, and the blanking mechanism 5 includes a third mounting plate 22, a third motor 28, and a blanking plate 25. The third mounting plate 22 is disposed on the main body 1. The third motor 28 is disposed on the third mounting plate 22, and a lead screw 31 is disposed on the transmission shaft of the third motor 28. The blanking plate 25 is slidably disposed on the third mounting plate 22, and one side of the blanking plate 25 is threadedly connected to the lead screw 31 through a spacer block 26 disposed on the blanking plate 25, and the other side of the blanking plate 25 is fixedly connected to the second mounting plate 32.

[0101] Specifically, the blanking mechanism 5 is mainly composed of components such as a third mounting plate 22, a third motor 28, a lead screw 31, and a blanking plate 25. The third mounting plate 22 is disposed on the main body 1, providing an installation foundation for other components of the blanking mechanism 5. The third mounting plate 22 is usually made of a strong and durable material, such as aluminum alloy or steel plate, to ensure its stability and reliability. The third motor 28 is disposed on the third mounting plate 22 and serves as the power source of the blanking mechanism 5. A lead screw 31 is disposed on its transmission shaft, which is used to convert the rotational motion of the motor into a linear motion. The operating state (such as rotation speed, rotation direction, etc.) of the third motor 28 is controlled by the control system to ensure that the blanking plate 25 can move along a predetermined trajectory. The lead screw 31 is disposed on the transmission shaft of the third motor 28 and is threadedly connected to the spacer block 26 on the blanking plate 25. When the third motor 28 rotates, the lead screw 31 will drive the blanking plate 25 to perform a linear motion. The lead screw drive has the characteristics of smooth transmission, accurate positioning, strong load-bearing capacity, etc., and is very suitable for occasions where precise position control is required. The blanking plate 25 is slidably disposed on the third mounting plate 22, one side of which is threadedly connected to the lead screw 31 through the spacer block 26, and the other side is fixedly connected to the second mounting plate 32. When the lead screw 31 rotates, the blanking plate 25 will drive the second mounting plate 32 (and the sorting mechanism 6 fixed thereon) to move up and down, thereby realizing the blanking operation of the test tubes. The blanking plate 25 is usually made of a light and strong material, such as aluminum alloy or plastic, to reduce the weight of the entire blanking mechanism and improve the movement efficiency. The spacer block 26 is disposed on the blanking plate 25 and is threadedly connected to the lead screw 31. It plays a role in converting the rotational motion of the lead screw into the linear motion of the blanking plate 25. The spacer block 26 is usually made of a wear-resistant and corrosion-resistant material, such as copper or stainless steel, to ensure good cooperation with the lead screw 31 and a long service life.

[0102] After the test tube is adjusted to the state where the tube mouth is vertically upward in the sorting mechanism 6, the control system sends an instruction to the third motor 28 to drive it to rotate. The rotational motion of the third motor 28 is converted into a linear motion of the blanking plate 25 through the lead screw 31, causing the blanking plate 25 to drive the sorting mechanism 6 (and the test tubes fixed thereon) to move downward. When the test tube moves to the predetermined position (i.e., above the sample tray), the control system controls the sorting mechanism 6 to release the test tube, allowing it to fall onto the sample tray to complete the sorting and sequencing operations.

[0103] It should also be noted that a stirring mechanism 2 can also be provided in the test tube bin 10 to stir the test tubes in the test tube bin 10 to prevent blockage of the discharge port of the test tube bin 10. The stirring mechanism 2 is a conventional material stirring mechanism.

[0104] In some other embodiments, as Figures 11 - 12 shown, the tube orientation determination mechanism may not adopt the above trigger and other structures, but instead add a tube orientation sensor 57 at the V-shaped groove 18. There is a certain distance between the tube orientation sensor 57 and the tube inspection sensor 20 to meet the forward travel distance of the test tube. When the tube inspection sensor 20 determines that there is a test tube in the V-shaped groove 18, the pusher plate 21 drives the test tube to move. If the closed end of the test tube faces the pusher plate 21, the pusher plate 21 will directly drive the test tube to move along the V-shaped groove 18. If the open end of the test tube faces the pusher plate 21, the push rod of the pusher plate 21 will first penetrate into the test tube and then drive the test tube to move after a certain distance, thereby extending the time for the test tube to reach the tube orientation sensor 57 to determine the tube orientation of the test tube.

[0105] It should be noted that in addition to determining the tube orientation based on time, the tube orientation can also be determined without relying on time. Specifically, it is judged according to whether the tube orientation sensor 57 is triggered or not. Each time the pusher plate 21 makes a certain distance displacement. When the pusher plate 21 does not penetrate into the tube mouth, it is pushed to the designated position of the tube orientation sensor 57, thus triggering the tube orientation sensor 57. When the pusher plate 21 penetrates into the tube mouth, since the test tube will not be driven to move during the penetration of the pusher plate 21, after the pusher plate 21 reaches the designated position, the test tube will not trigger the tube orientation sensor 57, and thus the tube orientation of the test tube can be judged accordingly.

[0106] The sorting method of the test tubes provided by the present invention is applied to the above-mentioned test tube sorting device. The sorting method includes:

[0107] Pour the disordered test tubes into the test tube bin 10, and control the reciprocating lifting mechanism to reciprocate the test tubes in the test tube bin 10 along the conveying channel;

[0108] Control the intercepting and guiding mechanism 3 to intercept the test tube transported to the top end of the conveying channel and guide it to the discharge port of the conveying channel, so that it slides into the tube pushing mechanism 4;

[0109] The control push tube mechanism 4 is used to push the test tube into the sorting mechanism 6;

[0110] According to the tube orientation determined by the tube orientation determination mechanism, control the sorting mechanism 6 to rotate the test tube by a certain angle so that the tube mouth of the test tube is vertically upward, and control the sorting mechanism 6 to move the test tube with the tube mouth vertically upward to the sample tray, and repeat the above steps repeatedly to complete the sorting of the test tubes.

[0111] Specifically, first, pour the disordered test tubes into the test tube bin 10. The test tube bin serves as a temporary storage area for test tubes, capable of accommodating a certain number of test tubes, facilitating subsequent lifting and sorting operations. Then, control the reciprocating lifting mechanism to start working. The reciprocating lifting mechanism can, through the coordinated action of the driving member 9 and the lifting member 8, lift the test tubes in the test tube bin 10 layer by layer and one by one to the top end of the conveying channel. During this process, the test tubes move stably in the conveying channel, avoiding collisions and damage between the test tubes. When the test tube is lifted to the top end of the conveying channel, the stop guiding mechanism 3 quickly intervenes. This mechanism, through the coordinated action of the stop guiding member and the blocking member, stops the test tube and guides it to the discharge port of the conveying channel. Under the action of the stop guiding member, the test tube smoothly slides along the guiding surface into the discharge hopper. At this time, the blocking member is in the open state, allowing the test tube to pass through and slide into the push tube mechanism 4. After the test tube enters the push tube mechanism 4, it is stably supported by the V-shaped groove 18. The tube inspection sensor 20 continuously monitors the presence state of the test tube in the V-shaped groove 18. Once it detects the presence of the test tube, it immediately sends a signal to the control system. After receiving the signal, the control system starts the second driving member, driving the push plate 21 to move along the guide rail 13. The push plate 21 stably pushes the test tube into the sorting mechanism 6 during the movement. After the test tube enters the sorting mechanism 6, the tube orientation determination mechanism immediately starts working. This mechanism, through the coordinated action of the first trigger 44, the second trigger 43, and the tube orientation sensor 40, accurately determines the tube orientation of the test tube. According to the determination result of the tube orientation determination mechanism, the control system controls the gripper 35 of the sorting mechanism 6 to rotate by a certain angle. Through this operation, the test tube is adjusted to the state where the tube mouth is vertically upward, preparing for the subsequent placement operation. Finally, the control system controls the sorting mechanism 6 to move the test tube with the tube mouth vertically upward to the sample tray, completing the sorting and sorting operation of the test tubes. After the above steps are completed, the control system automatically resets each mechanism and prepares for the next round of test tube sorting operation. By repeatedly repeating the above steps, the automatic sorting of a large number of test tubes can be achieved.

[0112] The above test tube sorting method effectively solves the problems of test tube orientation and sorting in the laboratory automation system. Through precise design and control mechanisms, this method realizes the automated processing of test tubes from disorder to order, significantly improving the working efficiency and accuracy of the laboratory. At the same time, this method also reduces the complexity and cost of the equipment, enhances the compatibility with ordinary smooth test tubes, and provides strong support for the wide application of the laboratory automation system.

[0113] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0114] The above provides a detailed introduction to a test tube sorting device and sorting method provided by the present invention. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A sorting device for test tubes, characterized in that, It includes a main body (1). On one side of the main body (1), there is a test tube bin (10) for loading test tubes. A conveying channel is arranged inside the main body (1). A reciprocating lifting mechanism is arranged on the main body (1) to lift the test tubes in the test tube bin (10) from the test tube bin (10) to the discharge port of the conveying channel. At the end of the conveying channel where the main body (1) is located, there is a stopping and guiding mechanism (3). The stopping and guiding mechanism (3) is used to stop the test tubes conveyed to the end of the conveying channel and guide them into a pushing tube mechanism (4) arranged on the main body (1). The pushing tube mechanism (4) is used to move the test tubes into a sorting mechanism (6) arranged on the main body (1). A tube direction determination mechanism is arranged on the main body (1). The tube direction determination mechanism is used to determine the tube direction of the test tubes in the sorting mechanism (6). The sorting mechanism (6) is used to place the test tubes with their mouths facing up on a sample tray on one side of the main body (1) according to the determination result of the tube direction determination mechanism.

2. The sorting device for test tubes according to claim 1, wherein The reciprocating lifting mechanism includes: A driving member (9) is arranged on the main body (1), and the output end of the driving member (9) is arranged inside the conveying channel; A lifting member (8) is arranged inside the conveying channel, and the lifting member (8) is fixedly connected to the output end of the driving member (9) so that the driving member (9) drives the lifting member (8) to reciprocate inside the conveying channel.

3. The sorting device for test tubes according to claim 1, characterized in that, The stopping and guiding mechanism (5) includes: A stopping and guiding member is arranged at the conveying end of the conveying channel to stop the lifted test tubes from rising and guide them to the discharge port of the conveying channel; A blocking member is arranged at the discharge port of the conveying channel to stop the test tubes at the discharge port of the conveying channel or let them slide into the pushing tube mechanism (4).

4. The sorting device for test tubes according to claim 1, characterized in that, The pushing tube mechanism (4) includes: A first mounting plate (12) is arranged on the main body (1). A guide rail (13) is arranged on the first mounting plate (12), and a pushing plate (21) is slidably arranged on the guide rail (13); A V-shaped groove (18) is arranged on the first mounting plate (12) and is located below the discharge port of the conveying channel; A second driving member is arranged on the first mounting plate (12) to move the pushing plate (21) along the guide rail (13) and drive the test tubes to move along the V-shaped groove (18); A test tube detection sensor (20) is arranged on the first mounting plate (12). The test tube detection sensor (20) is used to detect whether there is a test tube in the V-shaped groove (18); The second driving member includes a first driving wheel (16) and a first driven wheel (14) oppositely arranged on the first mounting plate (12). A first synchronous belt (15) is tensioned between the first driving wheel (16) and the first driven wheel (14). The pushing plate (21) is arranged on the first synchronous belt (15) so that the synchronous belt (15) drives the pushing plate (21) to slide along the guide rail (13). A first motor (17) is arranged on the first mounting plate (12) so that the first driving wheel (16) rotates and drives the first synchronous belt (15) to move.

5. The sorting device for test tubes according to claim 4, characterized in that, The tube orientation determination mechanism includes a tube orientation sensor (57) arranged at the end of the V-shaped groove (18) where the test tube is conveyed.

6. The sorting device for test tubes according to claim 4, wherein, The sorting mechanism (6) includes: A second mounting plate (32) arranged on one side of the main body (1); A gripper (35) arranged on the second mounting plate (32). A rotating assembly is arranged between the gripper (35) and the second mounting plate (32) so that the gripper (35) rotates on the second mounting plate (32). The gripper (35) is located on one side of the end of the V-shaped groove (18) so that the pushing plate (21) pushes the test tube from the V-shaped groove (18) into the gripper (35).

7. The sorting device for test tubes according to claim 6, characterized in that, The rotating assembly includes a second driving wheel (37) and a second driven wheel arranged on the second mounting plate (32). The gripper (35) is fixedly connected to the second driven wheel. A second synchronous belt (36) is tensioned between the second driving wheel (37) and the second driven wheel. A second motor (38) is arranged on the second mounting plate (32) so that the second driving wheel (37) rotates and drives the second driven wheel to rotate.

8. The sorting device for test tubes according to claim 6, characterized in that, The tube orientation determination mechanism includes a first trigger (44), a second trigger (43) and a tube orientation sensor (40) arranged on the second mounting plate (32). One end of the first trigger (44) is located on one side of the gripper (35). The other end of the first trigger (44) cooperates with the second trigger (43). A bearing seat (41) is arranged on the second mounting plate (32). The second trigger (43) is rotatably arranged on the bearing seat (41), and a torsion spring (42) is arranged between the second trigger (43) and the bearing seat (41); Contacts are arranged on the tube orientation sensor (40) so that after the first trigger (44) is triggered by the test tube, it drives the second trigger (43) to rotate and cooperate with the contacts.

9. The sorting device for test tubes according to claim 6, characterized in that, It further includes a blanking mechanism (5), and the blanking mechanism (5) includes: A third mounting plate (22) arranged on the main body (1); A third motor (28) arranged on the third mounting plate (22). A lead screw (31) is arranged on the transmission shaft of the third motor (28); The blanking plate (25) is slidably arranged on the third mounting plate (22). One side of the blanking plate (25) is threadedly connected to the lead screw (31) through a spacer block (26) arranged on the blanking plate (25), and the other side of the blanking plate (25) is fixedly connected to the second mounting plate (32).

10. A sorting method for test tubes, characterized in that, Applied to the sorting device for test tubes as described in any one of claims 1-9, the sorting method includes: Pour the disordered test tubes into the test tube bin (10), and control the reciprocating lifting mechanism to reciprocate the test tubes in the test tube bin (10) along the conveying channel; Control the stopping and guiding mechanism (3) to stop the test tubes conveyed to the top end of the conveying channel and guide them to the discharge port of the conveying channel so that they slide into the pushing tube mechanism (4); Control the pushing tube mechanism (4) to push the test tubes into the sorting mechanism (6); According to the tube orientation determined by the tube orientation determination mechanism, control the sorting mechanism (6) to rotate the test tubes by a certain angle so that the tube openings of the test tubes are vertically upward, and control the sorting mechanism (6) to move the test tubes with vertically upward tube openings to the sample tray, and repeatedly repeat the above steps to complete the sorting of the test tubes.

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